//
// Copyright (c) 2016-2018 CNRS
//

#include <iostream>

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/parsers/srdf.hpp"

#include <boost/test/unit_test.hpp>

using namespace pinocchio;
using namespace std;

BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)

BOOST_AUTO_TEST_CASE(test_removeCollisionPairs)
{
  using namespace pinocchio::urdf;
  using namespace pinocchio::srdf;
  const string model_filename =
    PINOCCHIO_MODEL_DIR
    + std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
  const string model_dir = PINOCCHIO_MODEL_DIR;
  const string srdf_filename =
    PINOCCHIO_MODEL_DIR
    + std::string("/example-robot-data/robots/romeo_description/srdf/romeo.srdf");

  Model model;
  buildModel(model_filename, model);

  GeometryModel geom_model;
  vector<string> paths;
  paths.push_back(model_dir);
  buildGeom(model, model_filename, COLLISION, geom_model, paths);

  geom_model.addAllCollisionPairs();

  const size_t num_init_col_pairs = geom_model.collisionPairs.size();

  removeCollisionPairs(model, geom_model, srdf_filename, false);
  const size_t num_col_pairs = geom_model.collisionPairs.size();

  BOOST_CHECK(num_init_col_pairs > num_col_pairs);
}

BOOST_AUTO_TEST_CASE(readReferenceConfig)
{
  using namespace pinocchio::urdf;
  using namespace pinocchio::srdf;
  const string model_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
  const string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.srdf");

  Model model;
  buildModel(model_filename, model);

  loadReferenceConfigurations(model, srdf_filename, false);
  Eigen::VectorXd q = model.referenceConfigurations["half_sitting"];
  Eigen::VectorXd q2 = model.referenceConfigurations["half_sitting2"];
  BOOST_CHECK(q.size() == model.nq);
  BOOST_CHECK(!q.isZero());

  BOOST_CHECK(q2.size() == model.nq);
  BOOST_CHECK(!q2.isZero());
}

BOOST_AUTO_TEST_CASE(readReferenceConfig_stream)
{
  const string urdf = "<robot name='test'>"
                      "<link name='base_link'/>"
                      "<link name='child_link'/>"
                      "<joint type='revolute' name='joint'>"
                      "  <parent link='base_link'/>"
                      "  <child link='child_link'/>"
                      "  <limit effort='30' velocity='1.0' />"
                      "</joint>"
                      "</robot>";
  const string srdf = "<robot name='test'>"
                      "<group_state name='reference' group='all'>"
                      "     <joint name='joint'  value='0.0' />"
                      "</group_state>"
                      "</robot>";

  Model model;
  pinocchio::urdf::buildModelFromXML(urdf, model);

  std::istringstream iss(srdf);
  pinocchio::srdf::loadReferenceConfigurationsFromXML(model, iss, false);

  Eigen::VectorXd q = model.referenceConfigurations["reference"];
  Eigen::VectorXd qexpected(1);
  qexpected << 0;
  BOOST_CHECK(q.size() == model.nq);
  BOOST_CHECK(q.isApprox(qexpected));
}

BOOST_AUTO_TEST_CASE(test_continuous_joint)
{
  const string urdf = "<robot name='test'>"
                      "<link name='base_link'/>"
                      "<link name='child_link'/>"
                      "<joint type='continuous' name='joint'>"
                      "  <parent link='base_link'/>"
                      "  <child link='child_link'/>"
                      "  <limit effort='30' velocity='1.0' />"
                      "</joint>"
                      "</robot>";
  const string srdf = "<robot name='test'>"
                      "<group_state name='reference' group='all'>"
                      "     <joint name='joint'  value='0.0' />"
                      "</group_state>"
                      "</robot>";

  Model model;
  pinocchio::urdf::buildModelFromXML(urdf, model);

  std::istringstream iss(srdf);
  pinocchio::srdf::loadReferenceConfigurationsFromXML(model, iss, false);

  Eigen::VectorXd q = model.referenceConfigurations["reference"];
  Eigen::VectorXd qexpected(2);
  qexpected << 1, 0;
  BOOST_CHECK(q.size() == model.nq);
  BOOST_CHECK(q.isApprox(qexpected));
}

BOOST_AUTO_TEST_CASE(readRotorParams)
{
  using namespace pinocchio::urdf;
  using namespace pinocchio::srdf;
  const string model_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
  const string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.srdf");

  Model model;
  buildModel(model_filename, model);

  loadRotorParameters(model, srdf_filename, false);

  BOOST_CHECK(model.rotorInertia(model.joints[model.getJointId("WAIST_P")].idx_v()) == 1.0);
  BOOST_CHECK(model.rotorGearRatio(model.joints[model.getJointId("WAIST_R")].idx_v()) == 1.0);
}

BOOST_AUTO_TEST_SUITE_END()
